CN100334324C - Control system suitable for continuous fiber gyrolevel for oil well - Google Patents
Control system suitable for continuous fiber gyrolevel for oil well Download PDFInfo
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- CN100334324C CN100334324C CNB2006100028712A CN200610002871A CN100334324C CN 100334324 C CN100334324 C CN 100334324C CN B2006100028712 A CNB2006100028712 A CN B2006100028712A CN 200610002871 A CN200610002871 A CN 200610002871A CN 100334324 C CN100334324 C CN 100334324C
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Abstract
The present invention discloses a control system suitable for a continuous inclinometer for fiber gyroscope oil wells. The control system comprises a computer, an underground controller and a calibration test device of an inclinometer, wherein the underground controller is composed of a processor DSP, a programmable logic device CPLD, a communication circuit and a power supply circuit. The calibration test device of an inclinometer, which is composed of a parameter arranging module, a test module of an inertial sensor, a calibration module of the inclinometer and a continuous measurement module, is arranged in the computer. The present invention provides a modularized underground controller which completes the real-time solution and calibration of collecting data underground; then, the real-time solution and calibration of the collecting data is uploaded to the computer on the ground by the communication circuit for the track output processing of well bores of an oil well. The signal error influence caused by environmental factors and the precision influence formed by tracks, which is caused by the attenuation of signals in the process of transmission are effectively overcome.
Description
Technical field
The present invention relates to a kind of system that sensor acquisition information is controlled, handled, more particularly say, be meant a kind of control system of the continuous fiber gyrolevel for oil well based on the inertia measurement technology.
Background technology
Along with the growing tension of world petroleum resource, the accurate measurement of oil well well track more and more demonstrates its importance, and this just needs high-precision inclinometer for oil well device.At present the widely used deviational survey instrument in domestic each oil field all adopts fluxgate sensor or mechanical gyro sensor, because the limitation of these two kinds of sensing technologies, and disadvantage such as cause that existing instrument has the precision deficiency, the scope of application is limited and the life-span is short.The light-duty solid-state structure of optical fibre gyro make its have reliability height, life-span long, can be shock-resistant and vibration, instantaneous starting, low in energy consumption and advantages such as dynamic range that broad is arranged, be a kind of angular transducer that is applicable to inclinometer for oil well.
In addition, the processing of image data being generally ground (aboveground) handling, is that the initial data that downhole sensor records is partly carried out integrated treatment by cable transmission to ground-based computer, obtains to characterize the parameter information of measured oil well bore track.Because down-hole and aboveground environmental difference cause image data to cause signal deformation, delay etc. in transmission, and part and down parameter can not in time transfer to aboveground computer and handle in real time, influenced the precision of oil well well track formation.
Summary of the invention
The purpose of this invention is to provide a kind of control system that is applicable to continuous fiber gyrolevel for oil well, this control system by modular and down controller the down-hole finish image data carried out real-time resolving after, the computer that is uploaded to ground by communicating circuit carries out oil well well track output processing, overcome the signal errors influence that environmental factor causes effectively, and the precision influence that forms of the track that causes of the decay of signal in transmission course.
The present invention is a kind of control system that is applicable to continuous fiber gyrolevel for oil well, comprises computer, a downhole controller and inclinometer demarcation testing arrangement.
Downhole controller is made up of processor DSP, programmable logic device CPLD, communicating circuit and power circuit;
Described programmable logic device CPLD is used for receiving in real time by the angular speed information of optical fibre gyro output and the ratio force information of accelerometer output, and the described angular speed information that will receive and describedly carry out timing than force information and add up, store;
Described processor DSP is used to provide the timing clock signal of programmable logic device CPLD; Receive the storage data of programmable logic device CPLD, empty the data of memory among the programmable logic device CPLD simultaneously; Processor DSP handles by dead reckoning the real time data that receives, and calculates the parameter information that characterizes the measured oil well bore track and is back to programmable logic device CPLD;
Described communicating circuit receives by the continuous measurement parameter information after programmable logic device CPLD string and the conversion process, and described continuous measurement parameter information is transferred to computer by the seven core armored cables of logging well;
Described power circuit provides downhole controller required power supply;
One inclinometer is demarcated testing arrangement, by parameter module, inertial sensor test module, inclinometer demarcating module and continuous measurement module is set and forms, and described inclinometer is demarcated testing arrangement and is positioned in the computer;
Described parameter is provided with module the initial value that provides described dead reckoning required is provided;
Described inertial sensor test module is finished real-time monitoring and the collection to the inertial sensor output data;
Described inclinometer demarcating module is finished the error correction of inertia measurement combination;
Described continuous measurement module is provided with data message that module, described inertial sensor test module and described inclinometer demarcating module obtain according to described parameter carries out dead reckoning and measures processing in real time, obtains to be used to characterize the parameter information of measured oil well bore track.
The control system of described continuous fiber gyrolevel for oil well, its processor DSP U6 chooses the TMS320VC33 chip, programmable logic device CPLD U1 chooses the ACEX_EP1K100 chip, communicating circuit is made up of frequency changer circuit U12, buffer circuit U13A and U13B, logic combination circuit U14A, U14B, U14C and U9 and power amplifier U11, and power circuit (shown in Figure 9) is made up of three power supply chip U7A, U7B and U7C.
The advantage of the control system of continuous fiber gyrolevel for oil well of the present invention is: (1) employing dsp processor has improved the computing speed to image data; (2) adopt programmable logic device CPLD to finish transmission, and processor DSP is handled uploading of back data, improved the time that computer obtains data message the oil well hole trajectory data of input with first in first out function; (3) downhole controller adopts modularization, miniaturization design to satisfy the optical fibre gyro inclinometer to the designing requirement of down-hole mechanical sectoral integration.
Description of drawings
Fig. 1 is the structured flowchart of control system of the present invention.
Fig. 2 is the control flow chart of processor DSP.
Fig. 3 is the interface that the parameter of inclinometer demarcation testing arrangement is provided with module.
Fig. 4 is the interface that inclinometer is demarcated the inertial sensor test module of testing arrangement.
Fig. 5 is the interface of inclinometer continuous measurement module.
Fig. 6 is the circuit theory diagrams of programmable logic device CPLD.
Fig. 6 A is the level shifting circuit schematic diagram of programmable logic device CPLD.
Fig. 6 B is the peripheral circuit of programmable logic device CPLD.
Fig. 7 is the circuit theory diagrams of processor DSP.
Fig. 7 A is the first memory circuit diagram of processor DSP.
Fig. 7 B is the second memory circuit diagram of processor DSP.
Fig. 8 is the circuit theory diagrams of communicating circuit.
Fig. 9 is the circuit theory diagrams of power circuit.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Continuous fiber gyrolevel for oil well is based on the inertial measurement system of inertial navigation technology, is a kind of any external equipment, complete autonomous measuring apparatus in real time and fast of not relying on.Its basic principle is the mechanics law according to the relative inertness space of newton's proposition, utilize optical fibre gyro, accelerometer sensitive instrument along angular velocity, acceleration in the oil well well motion process, resolve by real-time measurement, obtain the parameters such as angle of slope, azimuth and corresponding depth increments of each position of oil well well, in order to describe the oil well well track.Continuous fiber gyrolevel for oil well comprises ground installation and underground equipment, and underground equipment is made up of machinery frame, light path, circuit again.Control system of the present invention mainly is to carry out the computer that real-time resolving is handled, control exports ground at the data of down-hole part collection to carry out integrated treatment.
The present invention is a kind of control system that is applicable to continuous fiber gyrolevel for oil well, comprises computer, descends controller and inclinometer to demarcate testing arrangement in the lump, and downhole controller is connected by well logging seven core armored cables with computer.
Downhole controller is made up of processor DSP, programmable logic device CPLD, communicating circuit and power circuit, sees also shown in Figure 1.
Described programmable logic device CPLD is used for receiving in real time by the angular speed information of optical fibre gyro output and the ratio force information of accelerometer output, and the described angular speed information that will receive and describedly carry out timing than force information and add up, store;
Described processor DSP is used to provide the timing clock signal of programmable logic device CPLD; Receive the storage data of programmable logic device CPLD, empty the data of memory among the programmable logic device CPLD simultaneously; Processor DSP handles by dead reckoning the real time data that receives, and calculates the parameter information that characterizes the measured oil well bore track and is back to programmable logic device CPLD;
Described communicating circuit receives by the continuous measurement parameter information after programmable logic device CPLD string and the conversion process, and it is transferred to computer by the seven core armored cables of logging well;
Described power circuit provides downhole controller required power supply;
One inclinometer is demarcated testing arrangement, by parameter module, inertial sensor test module, inclinometer demarcating module and continuous measurement module is set and forms, and it is positioned in the computer;
Described parameter is provided with module the initial value that provides described dead reckoning required is provided;
Described inertial sensor test module is finished real-time monitoring and the collection to the inertial sensor output data;
Described inclinometer demarcating module is finished the error correction of inertia measurement combination;
Described continuous measurement module is provided with data message that module, described inertial sensor test module and described inclinometer demarcating module obtain according to described parameter carries out dead reckoning and measures processing in real time, obtains to be used to characterize the parameter information of measured oil well bore track.
In the present invention, processor DSP U6 chooses the TMS320VC33 chip, programmable logic device CPLD U1 chooses the ACEX_EP1K100 chip, communicating circuit is made up of frequency changer circuit U12, buffer circuit U13A and U13B, logic combination circuit U14A, U14B, U14C and U9 and power amplifier U11, power circuit (shown in Figure 9) is made up of three power supply chip U7A, U7B and U7C, and power circuit provides the power supply of 1.8V, 2.5V and 3.3V for downhole controller; Main terminal (each chip terminal of statement the is not generally conventional the connection in the present invention) connection that is applicable to the control system signal transmission of continuous fiber gyrolevel for oil well is:
See also shown in Fig. 6 A, the output signal FOG1+I end of optical fibre gyro, FOG1-I end, FOG2+I end, FOG2-I end, FOG3+I end and FOG3-I end are introduced behind a pull-up resistor R4～R9 respectively among the electrical level transferring chip U2, and each input signal is converted into FOG1+O end, FOG1-O end, FOG2+O end, FOG2-O end, FOG3+O end and FOG3-O end after level conversion; The output signal ACC1I end of accelerometer, ACC2I end and ACC3I end are introduced behind a pull-up resistor R3～R1 respectively among the electrical level transferring chip U2, and each input signal is converted into ACC1O end, ACC2O end and ACC3O end after level conversion; Other pin of electrical level transferring chip U2 is conventional the connection; The output signal of optical fibre gyro and accelerometer is required in order to be suitable for subsequent process circuit I/O mouth operation level through the conversion of electrical level transferring chip U2;
See also shown in Fig. 6, Fig. 6 A, Fig. 6 B, Fig. 6 B is the peripheral circuit of programmable logic device CPLD, and each terminal of this chip U5 is conventional the connection; The signal FOG1+O end of the electrical level transferring chip U2 output shown in Fig. 6 A, FOG1-O end, FOG2+O end, FOG2-O end, FOG3+O end, FOG3-O end, ACC1O end, ACC2O end and ACC3O end link to each other with 197 ends, 195 ends, 193 ends, 191 ends, 189 ends, 187 ends, 205 ends, 199 ends and 202 ends of programmable logic device CPLD U1; Electrical level transferring chip U2 is with the angular speed information of optical fibre gyro detection and the real-time introducing data processing unit of ratio force information of accelerometer measures with being connected of programmable logic device CPLD U1;
See also shown in Figure 6, I/O port 53 ends of programmable logic device CPLD U1 link to each other with 117 ends with I/O port one 16 ends of processor DSP U6 with 54 ends, realize given to this inventionly, detect reading and upgrading of inertia device (optical fibre gyro and accelerometer) image data with convenient within a certain period of time to the latching and removing of CPLD internal data; Input signal 172 ends of replying of programmable logic device CPLD U1 link to each other with the e1 end with output signal e 0 end of replying of 173 ends with the logic combination circuit of communicating circuit; Output signal 174 ends of replying of programmable logic device CPLD U1 link to each other with the pb end with the input signal pa end of replying of 175 ends with the power amplifier of communicating circuit; Clock 183 terminations one crystal oscillating circuit of programmable logic device CPLD U1 provides the clock information of 18.432MHz for programmable logic device CPLD; Other pin end of programmable logic device CPLD U1 is conventional the connection; E0 end, e1 end among Fig. 8 are exported response status information as real time data processing cell data result, are used to start programmable logic device CPLD communication logic interfacing information; Pa end among Fig. 8, pb end are with the well track resolved data output after handling through programmable logic device CPLD, logic enabling signal c0 among Fig. 8 end, c1 end are connected the transmission reproduction that realizes real time data by cable with aboveground computer after transformer conversion.Computer receives monitors in real time by the interface shown in Fig. 3～5 (parameter is provided with module, inertial sensor test module and continuous measurement module) after the related data and shows.In parameter the longitude of measuring point in the module interfaces and latitude and the local gravitational acceleration information primary data as dead reckoning is set; Inertial sensor test module interface is finished the duty of inertia device (optical fibre gyro and accelerometer) is monitored in real time; The continuous measurement module interfaces is used for showing in real time the acquired parameter information that is used to characterize the measured oil well bore track.
See also shown in Fig. 7, Fig. 7 A, Fig. 7 B, processor DSP U6 contains first memory U3 and second memory U4, and the major function of this element has: the calibration coefficient of primary data bookbinding, storing fiber optic gyro and quartz flexible accelerometer, well track attitude algorithm and resolve calculation of parameter, inertial measuring system error corrected Calculation and analytical work instruction transformation duty etc. in real time; The address wire A3 end of processor DSP U6, A4 end, A6 end, A7 end, A8 end, A23 end, PAGE0 end and PAGE2 end link to each other with address wire 95 ends, 96 ends, 97 ends, 99 ends, 100 ends, 92 ends, 93 ends and 94 ends of programmable logic device CPLD U1 respectively; The data wire D0 of processor DSPU6～D31 end links to each other with data wire 24～31 ends, 36～41 ends, 44 ends, 45 ends, 56～58 ends, 60～65 ends and 67～75 ends of programmable logic device CPLD U1 respectively; Interrupt signal 122 ends, 120 ends and 119 ends of processor DSPU6 link to each other with 88 ends, 55 ends and 87 ends of programmable logic device CPLD U1 respectively; Control signal 41 ends of processor DSP U6,42 ends link to each other with 86 ends, 85 ends of programmable logic device CPLDU1; Crystal oscillating circuit of clock 130 terminations of processor DSP U6 provides the external clock of 15MHz for processor DSP; First memory U3 is set to 1M byte memory capacity by 45 ends; Other pin of first memory U3 and second memory U4 is conventional the connection; Other pin end of processor DSP U6 is conventional the connection.
In the present invention, processor DSP is as follows to the information processing flow process, after system powers on, by the timer of system initialization process startup DSP inside, then, carries out the interrupt service routine that starts DSP according to the time constant that timer is set; Interrupt service routine is mainly finished the operation of CPLD storage data write, and finishes real-time resolving according to primary data, sees also shown in Figure 2.
To the hardware that the present invention adopts be described below
(1) computer
In the present invention, computer minimalist configuration PIII, 256 MB of memory, 10G hard disk.Software runtime environment: Windows 9X/ME/2000/XP/2003 operating system.
(2) processor DSP
Microcomputer chip is as the core of real-time resolving, and its selection will determine the function and the precision of instrument.The DSP DSP chip is to be designed to a kind of microprocessor that is particularly suitable for carrying out Digital Signal Processing.DSP not only is greatly improved on arithmetic speed, and greatly improvement is being arranged aspect versatility and the flexibility.In addition, the cost of dsp chip, volume, weight and power consumption have also all had decline significantly.The design selects 32 float-point DSP TMS320VC33 in American TI Company 3000 series, the peak value arithmetic speed of this chip when the 15MHz external clock can reach 150MFLOPS, and have low-power consumption characteristic (＜200mw@150MFLOPS), has abundant interrupt resources simultaneously, consider the abominable working environment of down-hole high temperature, low-power consumption is the primary standard of selector, so chip is suitable for the processor as the real time data processing unit in the inclinometer downhole probe.
The design adopts the DSP timer to interrupt, the update cycle of control dead reckoning main program, thereby simplified the complex time sequence design of CPLD inside, and the programmable logic device CPLD interface of realizing utilizing DSP revises the timer control word and can change main program easily and resolve the cycle, improved the use flexibility when difference tests the speed of instrument.
(3) programmable logic device CPLD
CPLD is the programmable logic device of present main flow, has repetitive erasing, programming, can revise easily and upgrade design, defines pin function neatly, has abundant trigger resources, is easy to realize sequential logic, is suitable for very much interface circuit design.The design adopts the ACEX_1K100 chip of the ACEX_1K1 of altera corp series, and this chip provides 100,000 available doors, and its multivoltage pin can drive the device of 2.5V, 3.3V, 5.0V.Use CPLD to finish all interface tasks, comprise the survey data that reads inertia device, accept ground upload the instruction of data, upload data and string conversion (corresponding physical interface referring to).
(4) communicating circuit uploaded of down-hole continuous measurement parameter
To transmit the output signal of CPLD by more than 7000 meter well logging seven core armored cables, conventional communication modes is impracticable, in the design, down-hole continuous measurement parameter is uploaded drive circuit and is at first accepted the 8KHz sound wave logical data upload request signal that issues from ground-based computer, and this signal carried out frequency conversion, after the direct sum logic integration is handled, sending the CPLD request msg to uploads, CPLD is after receiving corresponding request signal, send the data after also string is changed to down-hole continuous measurement parameter and upload drive circuit, this circuit is after carrying out the bipolarity NRZ to data, in conjunction with power amplifier, data to be uploaded are adjusted to certain amplitude, enable the corresponding information that after by cable transmission ground-based computer can accurately be discerned transmission.
The control system of continuous fiber gyrolevel for oil well of the present invention, improve the certainty of measurement of well track greatly, for oil field development provides powerful technical support, reduce and avoid economic loss in the oilfield development process, have good economic benefit and social benefit.
Claims (1)
1, a kind of control system that is applicable to continuous fiber gyrolevel for oil well comprises computer, it is characterized in that also comprising:
One downhole controller is made up of processor DSP, programmable logic device CPLD, communicating circuit and power circuit;
Described programmable logic device CPLD is used for receiving in real time by the angular speed information of optical fibre gyro output and the ratio force information of accelerometer output, and the described angular speed information that will receive and describedly carry out timing than force information and add up, store;
Described processor DSP is used to provide the timing clock signal of programmable logic device CPLD; Receive the storage data of programmable logic device CPLD, empty the data of memory among the programmable logic device CPLD simultaneously; Processor DSP handles by dead reckoning the real time data that receives, and calculates the parameter information that characterizes the measured oil well bore track and is back to programmable logic device CPLD;
Described communicating circuit receives by the continuous measurement parameter information after programmable logic device CPLD string and the conversion process, and described continuous measurement parameter information is transferred to computer by the seven core armored cables of logging well;
Described power circuit provides downhole controller required power supply;
One inclinometer is demarcated testing arrangement, by parameter module, inertial sensor test module, inclinometer demarcating module and continuous measurement module is set and forms, and described inclinometer is demarcated testing arrangement and is positioned in the computer;
Described parameter is provided with module the initial value that provides described dead reckoning required is provided;
Described inertial sensor test module is finished real-time monitoring and the collection to the inertial sensor output data;
Described inclinometer demarcating module is finished the error correction of inertia measurement combination;
Described continuous measurement module is provided with data message that module, described inertial sensor test module and described inclinometer demarcating module obtain according to described parameter carries out dead reckoning and measures processing in real time, obtains to be used to characterize the parameter information of measured oil well bore track;
Processor DSP chooses the TMS320VC33 chip, and programmable logic device CPLD chooses the ACEX_EP1K100 chip, and communicating circuit is made up of frequency changer circuit, buffer circuit, logic combination circuit and power amplifier, and power circuit is made up of three power supply chips; The main terminal that is used for the control system signal transmission of continuous fiber gyrolevel for oil well connects:
The output signal FOG1+I end of optical fibre gyro, FOG1-I end, FOG2+I end, FOG2-I end, FOG3+I end and FOG3-I end are introduced behind a pull-up resistor R4～R9 respectively among the electrical level transferring chip U2, and each input signal is converted into FOG1+O end, FOG1-O end, FOG2+O end, FOG2-O end, FOG3+O end and FOG3-O end after level conversion;
The output signal ACC1I end of accelerometer, ACC2I end and ACC3I end are introduced behind a pull-up resistor R3～R1 respectively among the electrical level transferring chip U2, and each input signal is converted into ACC1O end, ACC2O end and ACC3O end after level conversion; Other pin of electrical level transferring chip U2 is conventional the connection;
The signal FOG1+O end of electrical level transferring chip U2 output, FOG1-O end, FOG2+O end, FOG2-O end, FOG3+O end, FOG3-O end, ACC1O end, ACC2O end and ACC3O end link to each other with 197 ends, 195 ends, 193 ends, 191 ends, 189 ends, 187 ends, 205 ends, 199 ends and 202 ends of programmable logic device CPLD U1;
I/O port 53 ends of programmable logic device CPLD U1 link to each other with 117 ends with I/O port one 16 ends of processor DSP U6 with 54 ends; Input signal 172 ends of replying of programmable logic device CPLD U1 link to each other with the e1 end with output signal e 0 end of replying of 173 ends with the logic combination circuit of communicating circuit; Output signal 174 ends of replying of programmable logic device CPLD U1 link to each other with the pb end with the input signal pa end of replying of 175 ends with the power amplifier of communicating circuit; Clock 183 terminations one crystal oscillating circuit of programmable logic device CPLD U1 provides the clock information of 18.432MHz for programmable logic device CPLD; Other pin end of programmable logic device CPLD U1 is conventional the connection;
Processor DSP U6 contains first memory U3 and second memory U4, and the address wire A3 end of processor DSP U6, A4 end, A6 end, A7 end, A8 end, A23 end, PAGE0 end and PAGE2 end link to each other with address wire 95 ends, 96 ends, 97 ends, 99 ends, 100 ends, 92 ends, 93 ends and 94 ends of programmable logic device CPLD U1 respectively; The data wire D0 of processor DSP U6～D31 end links to each other with data wire 24～31 ends, 36～41 ends, 44 ends, 45 ends, 56～58 ends, 60～65 ends and 67～75 ends of programmable logic device CPLD U1 respectively; Interrupt signal 122 ends, 120 ends and 119 ends of processor DSP U6 link to each other with 88 ends, 55 ends and 87 ends of programmable logic device CPLD U1 respectively; Control signal 41 ends of processor DSP U6,42 ends link to each other with 86 ends, 85 ends of programmable logic device CPLD U1; Crystal oscillating circuit of clock 130 terminations of processor DSP U6 provides the external clock of 15MHz for processor DSP; First memory U3 is set to 1M byte memory capacity by 45 ends; Other pin of first memory U3 and second memory U4 is conventional the connection; Other pin end of processor DSP U6 is conventional the connection.
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| CN101435329B (en) * | 2008-12-08 | 2012-05-23 | 北京航空航天大学 | Error rate test system based on Bayes theorem |
| CN102571273A (en) * | 2011-12-16 | 2012-07-11 | 浙江大学 | Communication method of inertial navigation system |
| CN102562031B (en) * | 2012-01-17 | 2014-08-27 | 中海油田服务股份有限公司 | Continuous gyroscopic survey system for directional well |
| CN102607509A (en) * | 2012-03-29 | 2012-07-25 | 南京理工大学 | Method and device for measuring attitude dip angle of moving carrier based on floating point type DSP (digital signal processor) |
| CN103256039B (en) * | 2013-04-25 | 2016-10-19 | 福州华虹智能科技开发有限公司 | A kind of track recorder of underground coal mine |
| EP3356644A4 (en) * | 2015-09-28 | 2019-06-12 | HRL Laboratories, LLC | Real-time trajectory estimation with multi-station analysis |
| CN108007461B (en) * | 2017-11-13 | 2021-08-06 | 西安理工大学 | Positioning device and drawing method for motion trail of oil field underground equipment |
| CN109826619B (en) * | 2019-03-06 | 2020-11-24 | 北京华瑞九州能源科技有限公司 | Control system of triaxial fiber-optic gyroscope inclinometer |
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| 陀螺测斜技术在YJB油田综合调整中的应用 邓广耀，河南石油，第19卷第2期 2005 * |
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